CN104302452B - 用于操作工业机器人的方法 - Google Patents
用于操作工业机器人的方法 Download PDFInfo
- Publication number
- CN104302452B CN104302452B CN201380017789.5A CN201380017789A CN104302452B CN 104302452 B CN104302452 B CN 104302452B CN 201380017789 A CN201380017789 A CN 201380017789A CN 104302452 B CN104302452 B CN 104302452B
- Authority
- CN
- China
- Prior art keywords
- finger
- display
- touch display
- robot
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 claims description 6
- 210000003811 finger Anatomy 0.000 description 64
- 230000006870 function Effects 0.000 description 33
- 239000012634 fragment Substances 0.000 description 22
- 230000009471 action Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001483 mobilizing effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
- G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012103032A DE102012103032B3 (de) | 2012-04-05 | 2012-04-05 | Verfahren zur Bedienung eines Industrieroboters |
| DE102012103032.4 | 2012-04-05 | ||
| PCT/EP2013/057197 WO2013150136A1 (de) | 2012-04-05 | 2013-04-05 | Verfahren zur bedienung eines industrieroboters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104302452A CN104302452A (zh) | 2015-01-21 |
| CN104302452B true CN104302452B (zh) | 2016-04-13 |
Family
ID=48087568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380017789.5A Active CN104302452B (zh) | 2012-04-05 | 2013-04-05 | 用于操作工业机器人的方法 |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US9387590B2 (de) |
| EP (1) | EP2834051B1 (de) |
| KR (1) | KR101536106B1 (de) |
| CN (1) | CN104302452B (de) |
| DE (1) | DE102012103032B3 (de) |
| DK (1) | DK2834051T3 (de) |
| ES (1) | ES2603205T3 (de) |
| WO (1) | WO2013150136A1 (de) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9199376B2 (en) | 2013-03-14 | 2015-12-01 | GM Global Technology Operations LLC | Intuitive grasp control of a multi-axis robotic gripper |
| DE102013216740A1 (de) * | 2013-08-23 | 2015-02-26 | Robert Bosch Gmbh | Bedienvorrichtung, Steuervorrichtung und Anlage der Automationstechnik |
| JP6476662B2 (ja) | 2013-09-20 | 2019-03-06 | 株式会社デンソーウェーブ | ロボット操作装置、ロボットシステム、及びロボット操作プログラム |
| US9323331B2 (en) * | 2014-05-21 | 2016-04-26 | International Business Machines Corporation | Evaluation of digital content using intentional user feedback obtained through haptic interface |
| EP2977840A1 (de) * | 2014-07-23 | 2016-01-27 | Siemens Aktiengesellschaft | Fehlersichere Bedienung eines Gerätes aus dem Bereich der industriellen Automatisierungstechnik mittels Gesten |
| US20160274787A1 (en) * | 2015-03-19 | 2016-09-22 | Denso Wave Incorporated | Apparatus for operating robots |
| JP6631279B2 (ja) * | 2015-03-19 | 2020-01-15 | 株式会社デンソーウェーブ | ロボット操作装置、ロボット操作プログラム |
| US10048851B2 (en) * | 2015-03-19 | 2018-08-14 | Denso Wave Incorporated | Apparatus for operating robots |
| DE202015008715U1 (de) * | 2015-12-18 | 2017-03-21 | Kuka Roboter Gmbh | Bediengerät zum Steuern oder Programmieren eines Manipulators |
| US10456910B2 (en) * | 2016-01-14 | 2019-10-29 | Purdue Research Foundation | Educational systems comprising programmable controllers and methods of teaching therewith |
| JP6619106B2 (ja) * | 2016-01-29 | 2019-12-11 | アーベーベー・シュバイツ・アーゲー | 産業用ロボットを用いてタッチスクリーンパネルを較正するための方法、及びこれを使用したシステム、産業用ロボット、並びにタッチスクリーン |
| DE102016202881B4 (de) * | 2016-02-24 | 2018-01-18 | Kuka Roboter Gmbh | Bediengerät für Manipulator |
| DE102016211244B4 (de) * | 2016-06-23 | 2018-01-18 | Kuka Roboter Gmbh | Roboter-Bedienhandgerätverbund mit einem Grundsteuerungs-Lagesensor |
| JP6784660B2 (ja) * | 2017-11-28 | 2020-11-11 | ファナック株式会社 | 入力装置およびロボットの制御システム |
| CN109584449A (zh) * | 2018-11-30 | 2019-04-05 | 湖南金码智能设备制造有限公司 | 一种xy型有屏自助售货终端及其货道位置校准方法 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843710A (zh) * | 2005-04-07 | 2006-10-11 | 精工爱普生株式会社 | 移动控制装置及方法、位置指挥装置及方法、控制程序 |
| CN1853876A (zh) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | 能够指定移动区域的机器人系统 |
| EP1795315A1 (de) * | 2006-05-31 | 2007-06-13 | Abb Research Ltd. | Handbediengerät für einen Industrieroboter |
| WO2008128626A3 (de) * | 2007-04-18 | 2008-12-31 | Abb Research Ltd | Portable bedienvorrichtung |
| DE102010025781A1 (de) * | 2010-07-01 | 2012-01-05 | Kuka Laboratories Gmbh | Tragbare Sicherheitseingabeeinrichtung für eine Robotersteuerung |
| DE102010039540A1 (de) * | 2010-08-19 | 2012-02-23 | Kuka Laboratories Gmbh | Handbediengerät zum manuellen Bewegen eines Roboterarms |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3182669B2 (ja) * | 1992-05-15 | 2001-07-03 | 芝浦メカトロニクス株式会社 | 工業用ロボット |
| JP3010980B2 (ja) * | 1993-07-29 | 2000-02-21 | 日産自動車株式会社 | 自動組立て設備における取付けミス位置表示装置 |
| US5617515A (en) * | 1994-07-11 | 1997-04-01 | Dynetics, Inc. | Method and apparatus for controlling and programming a robot or other moveable object |
| JP4014662B2 (ja) * | 1995-09-18 | 2007-11-28 | ファナック株式会社 | ロボット教示操作盤 |
| EP0864401B1 (de) * | 1996-07-24 | 2006-02-15 | Fanuc Ltd | Steuerverfahren zum schrittbetrieb eines roboters |
| DE59812696D1 (de) | 1997-12-06 | 2005-05-04 | Elan Schaltelemente Gmbh & Co | Verfahren zur Überwachung einer Bremseinrichtung, insbesondere eines Handhabungsgerätes, sowie Überwachungs- und Steuergerät |
| EP1109497B1 (de) * | 1998-08-04 | 2009-05-06 | Intuitive Surgical, Inc. | Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie |
| ITTO20020862A1 (it) * | 2002-10-04 | 2004-04-05 | Comau Spa | Sistema di programmazione per robot o simili apparati |
| JP3708097B2 (ja) * | 2003-10-08 | 2005-10-19 | ファナック株式会社 | ロボットの手動送り装置 |
| US7346478B2 (en) * | 2004-09-21 | 2008-03-18 | Ford Motor Company | Method of embedding tooling control data within mechanical fixture design to enable programmable logic control verification simulation |
| PL1996376T3 (pl) * | 2006-03-03 | 2016-12-30 | Programowalny robot i interfejs użytkownika | |
| US8738181B2 (en) * | 2007-04-16 | 2014-05-27 | Alexander Greer | Methods, devices, and systems for automated movements involving medical robots |
| DE102007029398A1 (de) * | 2007-06-26 | 2009-01-02 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Programmieren eines Industrieroboters |
| US8049740B2 (en) * | 2007-10-26 | 2011-11-01 | Tyco Electronics Corporation | Method and apparatus for laplace constrained touchscreen calibration |
| US8428781B2 (en) * | 2008-11-17 | 2013-04-23 | Energid Technologies, Inc. | Systems and methods of coordination control for robot manipulation |
| DE102010007455A1 (de) * | 2010-02-10 | 2011-08-11 | Ident Technology AG, 82234 | System und Verfahren zum berührungslosen Erfassen und Erkennen von Gesten in einem dreidimensionalen Raum |
| AT509927B1 (de) * | 2010-06-08 | 2015-05-15 | Keba Ag | Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters |
| US9013430B2 (en) * | 2010-08-20 | 2015-04-21 | University Of Massachusetts | Hand and finger registration for control applications |
| US9415509B2 (en) * | 2011-11-04 | 2016-08-16 | Fanuc America Corporation | Robot teach device with 3-D display |
-
2012
- 2012-04-05 DE DE102012103032A patent/DE102012103032B3/de active Active
-
2013
- 2013-04-05 WO PCT/EP2013/057197 patent/WO2013150136A1/de active Application Filing
- 2013-04-05 EP EP13715667.5A patent/EP2834051B1/de active Active
- 2013-04-05 US US14/389,822 patent/US9387590B2/en active Active
- 2013-04-05 CN CN201380017789.5A patent/CN104302452B/zh active Active
- 2013-04-05 DK DK13715667.5T patent/DK2834051T3/en active
- 2013-04-05 ES ES13715667.5T patent/ES2603205T3/es active Active
- 2013-04-05 KR KR1020147030992A patent/KR101536106B1/ko active IP Right Grant
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843710A (zh) * | 2005-04-07 | 2006-10-11 | 精工爱普生株式会社 | 移动控制装置及方法、位置指挥装置及方法、控制程序 |
| CN1853876A (zh) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | 能够指定移动区域的机器人系统 |
| EP1795315A1 (de) * | 2006-05-31 | 2007-06-13 | Abb Research Ltd. | Handbediengerät für einen Industrieroboter |
| WO2008128626A3 (de) * | 2007-04-18 | 2008-12-31 | Abb Research Ltd | Portable bedienvorrichtung |
| DE102010025781A1 (de) * | 2010-07-01 | 2012-01-05 | Kuka Laboratories Gmbh | Tragbare Sicherheitseingabeeinrichtung für eine Robotersteuerung |
| DE102010039540A1 (de) * | 2010-08-19 | 2012-02-23 | Kuka Laboratories Gmbh | Handbediengerät zum manuellen Bewegen eines Roboterarms |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20140148473A (ko) | 2014-12-31 |
| EP2834051A1 (de) | 2015-02-11 |
| WO2013150136A1 (de) | 2013-10-10 |
| EP2834051B1 (de) | 2016-09-28 |
| DE102012103032B3 (de) | 2013-07-04 |
| ES2603205T3 (es) | 2017-02-24 |
| CN104302452A (zh) | 2015-01-21 |
| US20150057804A1 (en) | 2015-02-26 |
| DK2834051T3 (en) | 2017-01-23 |
| US9387590B2 (en) | 2016-07-12 |
| KR101536106B1 (ko) | 2015-07-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |